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Identification and switching quasi-LPV control of a four wheeled omnidirectional robot
dc.contributor.author | Rotondo, Damiano |
dc.contributor.author | Romera Formiguera, Juli |
dc.contributor.author | Puig Cayuela, Vicenç |
dc.contributor.author | Nejjari Akhi-Elarab, Fatiha |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2015-04-27T13:35:05Z |
dc.date.created | 2014 |
dc.date.issued | 2014 |
dc.identifier.citation | Rotondo, D. [et al.]. Identification and switching quasi-LPV control of a four wheeled omnidirectional robot. A: Mediterranean Conference on Control and Automation. "2014 22nd Mediterranean Conference on Control and Automation (MED) : University of Palermo : June 16-19, 2014. Palermo, Italy". Palermo: 2014, p. 1105-1110. |
dc.identifier.isbn | 978-1-4799-5901-3 |
dc.identifier.uri | http://hdl.handle.net/2117/27597 |
dc.description.abstract | This paper presents the quasi-Linear Parameter Varying (quasi-LPV) modeling, identification and control of a four wheeled omnidirectional robot. The unknown nonlinear model parameters of the four wheeled robot have been calibrated by means of the nonlinear least squares identification approach and validated against real data. Introducing a reference model that generates the desired trajectory, the resulting nonlinear error model is brought to a quasi-LPV form suitable for designing a controller using Linear Matrix Inequalities (LMIs). In particular, the controller is obtained within the switching LPV framework. The effectiveness of the proposed approach is shown and proved through experimental results. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
dc.subject.lcsh | Robots -- Control systems |
dc.title | Identification and switching quasi-LPV control of a four wheeled omnidirectional robot |
dc.type | Conference report |
dc.subject.lemac | Robots -- Control automàtic |
dc.subject.lemac | Robots -- Sistemes de control |
dc.contributor.group | Universitat Politècnica de Catalunya. SIC - Sistemes Intel·ligents de Control |
dc.contributor.group | Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control |
dc.identifier.doi | 10.1109/MED.2014.6961522 |
dc.description.peerreviewed | Peer Reviewed |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 14995401 |
dc.description.version | Postprint (published version) |
dc.date.lift | 10000-01-01 |
local.citation.author | Rotondo, D.; Romera, J.; Puig, V.; Nejjari, F. |
local.citation.contributor | Mediterranean Conference on Control and Automation |
local.citation.pubplace | Palermo |
local.citation.publicationName | 2014 22nd Mediterranean Conference on Control and Automation (MED) : University of Palermo : June 16-19, 2014. Palermo, Italy |
local.citation.startingPage | 1105 |
local.citation.endingPage | 1110 |